Accuracy of Ouster IMU for mobile mapping

vasiljev

It will be interesting to know about quality of IMU integrated in Ouster sensors, in order to estimate accuracy that can be expected for GIS data collection using mobile mapping. Can you share parameters like Gyro rate bias, Gyro Random walk, accelerometers bias stability and accelerometers velocity random walk ...

tgrey

Hi vasiljev,

You can find the data sheet for the internal IMU here: [http://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf]

Please have a look. Practically speaking, the IMU is a commercial grade unit and has performed very well for our internal SLAM videos. You can find these on our Youtube page here: https://www.youtube.com/channel/UCRB5JpLey3BA-1P9XyrErTA?view_as=subscriber.

The IMU can be used for mobile mapping and the output comes natively from the sensor. Though it's worth noting that many Ouster customers who are using the sensor for commercial mapping have integrated the sensor with a high-grade external IMU. We support both NMEA and PTP time synchronization for that integration.

farid

Is there any tutorial how to apply NMEA and PTP time synchronization with external IMU devices?
In ouster_ros package, I do not see any /GPRMC topics (or other NMEA messages) published for OS_1.